<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: features/include/pcl/features/impl/pfh.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('pfh_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">pfh.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_PFH_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_PFH_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfh.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#a24c4df13bb5e418f65a4d0397f5c059f">   46</a></span>&#160;<a class="code" href="classpcl_1_1_p_f_h_estimation.html#a24c4df13bb5e418f65a4d0397f5c059f">pcl::PFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePairFeatures</a> (</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> q_idx, <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  pcl::computePairFeatures (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                            cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                            f1, f2, f3, f4);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#ab1304ee95f069b980308a69882706e66">   58</a></span>&#160;<a class="code" href="classpcl_1_1_p_f_h_estimation.html#ab1304ee95f069b980308a69882706e66">pcl::PFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePointPFHSignature</a> (</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keywordtype">int</span> nr_split, Eigen::VectorXf &amp;pfh_histogram)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">int</span> h_index, h_p;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Clear the resultant point histogram</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  pfh_histogram.setZero ();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// Factorization constant</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">float</span> hist_incr = 100.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (indices.size () * (indices.size () - 1) / 2);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  std::pair&lt;int, int&gt; key;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> key_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// Iterate over all the points in the neighborhood</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j_idx = 0; j_idx &lt; i_idx; ++j_idx)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// If the 3D points are invalid, don&#39;t bother estimating, just continue</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i_idx]]) || !isFinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[j_idx]]))</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">if</span> (use_cache_)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="comment">// In order to create the key, always use the smaller index as the first key pair member</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordtype">int</span> p1, p2;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">//      if (indices[i_idx] &gt;= indices[j_idx])</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">//      {</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          p1 = indices[i_idx];</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          p2 = indices[j_idx];</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">//      }</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">//      else</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">//      {</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">//        p1 = indices[j_idx];</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">//        p2 = indices[i_idx];</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">//      }</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        key = std::pair&lt;int, int&gt; (p1, p2);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="comment">// Check to see if we already estimated this pair in the global hashmap</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        std::map&lt;std::pair&lt;int, int&gt;, Eigen::Vector4f, std::less&lt;std::pair&lt;int, int&gt; &gt;, Eigen::aligned_allocator&lt;std::pair&lt;const std::pair&lt;int, int&gt;, Eigen::Vector4f&gt; &gt; &gt;::iterator fm_it = feature_map_.find (key);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">if</span> (fm_it != feature_map_.end ())</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          pfh_tuple_ = fm_it-&gt;second;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          key_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          <span class="comment">// Compute the pair NNi to NNj</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keywordflow">if</span> (!computePairFeatures (cloud, normals, indices[i_idx], indices[j_idx],</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                                    pfh_tuple_[0], pfh_tuple_[1], pfh_tuple_[2], pfh_tuple_[3]))</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          key_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">if</span> (!computePairFeatures (cloud, normals, indices[i_idx], indices[j_idx],</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                                  pfh_tuple_[0], pfh_tuple_[1], pfh_tuple_[2], pfh_tuple_[3]))</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="comment">// Normalize the f1, f2, f3 features and push them in the histogram</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      f_index_[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfh_tuple_[0] + M_PI) * d_pi_)));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordflow">if</span> (f_index_[0] &lt; 0)         f_index_[0] = 0;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">if</span> (f_index_[0] &gt;= nr_split) f_index_[0] = nr_split - 1;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      f_index_[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfh_tuple_[1] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordflow">if</span> (f_index_[1] &lt; 0)         f_index_[1] = 0;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">if</span> (f_index_[1] &gt;= nr_split) f_index_[1] = nr_split - 1;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      f_index_[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfh_tuple_[2] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordflow">if</span> (f_index_[2] &lt; 0)         f_index_[2] = 0;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">if</span> (f_index_[2] &gt;= nr_split) f_index_[2] = nr_split - 1;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="comment">// Copy into the histogram</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      h_p     = 1;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        h_index += h_p * f_index_[d];</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        h_p     *= nr_split;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      pfh_histogram[h_index] += hist_incr;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordflow">if</span> (use_cache_ &amp;&amp; !key_found)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="comment">// Save the value in the hashmap</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        feature_map_[key] = pfh_tuple_;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="comment">// Use a maximum cache so that we don&#39;t go overboard on RAM usage</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        key_list_.push (key);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="comment">// Check to see if we need to remove an element due to exceeding max_size</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">if</span> (key_list_.size () &gt; max_cache_size_)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="comment">// Remove the oldest element.</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          feature_map_.erase (key_list_.front ());</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          key_list_.pop ();</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_estimation.html#ad8769fa8f306bbde7d617ff4e68c9ffe">  164</a></span>&#160;<a class="code" href="classpcl_1_1_p_f_h_estimation.html#ad8769fa8f306bbde7d617ff4e68c9ffe">pcl::PFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;{</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="comment">// Clear the feature map</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  feature_map_.clear ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  std::queue&lt;std::pair&lt;int, int&gt; &gt; empty;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  std::swap (key_list_, empty);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  pfh_histogram_.setZero (nr_subdiv_ * nr_subdiv_ * nr_subdiv_);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordflow">if</span> (this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; pfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// Estimate the PFH signature at each patch</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      computePointPFHSignature (*surface_, *normals_, nn_indices, nr_subdiv_, pfh_histogram_);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; pfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = pfh_histogram_[d];</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">if</span> (!isFinite ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; pfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="comment">// Estimate the PFH signature at each patch</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      computePointPFHSignature (*surface_, *normals_, nn_indices, nr_subdiv_, pfh_histogram_);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; pfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = pfh_histogram_[d];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;}</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PFHEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PFHEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_PFH_H_ </span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_a24c4df13bb5e418f65a4d0397f5c059f"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#a24c4df13bb5e418f65a4d0397f5c059f">pcl::PFHEstimation::computePairFeatures</a></div><div class="ttdeci">bool computePairFeatures(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int q_idx, float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4)</div><div class="ttdoc">Compute the 4-tuple representation containing the three angles and one distance between two points re...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ab1304ee95f069b980308a69882706e66"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ab1304ee95f069b980308a69882706e66">pcl::PFHEstimation::computePointPFHSignature</a></div><div class="ttdeci">void computePointPFHSignature(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, const std::vector&lt; int &gt; &amp;indices, int nr_split, Eigen::VectorXf &amp;pfh_histogram)</div><div class="ttdoc">Estimate the PFH (Point Feature Histograms) individual signatures of the three angular (f1,...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_estimation_html_ad8769fa8f306bbde7d617ff4e68c9ffe"><div class="ttname"><a href="classpcl_1_1_p_f_h_estimation.html#ad8769fa8f306bbde7d617ff4e68c9ffe">pcl::PFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by &lt;setInputCloud ()...</div><div class="ttdef"><b>Definition:</b> pfh.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_9a1a4359f87a67855aa82c0560dc9571.html">features</a></li><li class="navelem"><a class="el" href="dir_41d7953d0f26ce0cd6d0f8fad63e33a4.html">include</a></li><li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li><li class="navelem"><a class="el" href="dir_1bdd8dc6a4f40b9d01b6b9595d75a350.html">impl</a></li><li class="navelem"><b>pfh.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
